search

HaddingtonDynamics / Dexter

GNU General Public License v3.0
376 stars 85 forks source link

Dexter moves when changing from Follow mode to Keep mode. #3

Open JamesNewton opened 6 years ago

JamesNewton commented 6 years ago

When entering Keep mode, Dexter will return to the last commanded position, which may not be the current position after movement in Follow mode. Transitioning from Follow to Keep, at the current position, without motion is an outstanding issue.

JamesNewton commented 4 years ago

Question: Why can't we send a command to change the last commanded position and also clear the PID DELTA used in Follow mode at the same time? E.g. make a new oplet that has the DexRun.c firmware do those two things in quick succession?

One of the FPGA addresses seems to indicate that it resets the built up PID delta. Is that correct? 78 RESET_PID_AND_FLUSH_QUEUE: bit 0 resets PID_DELTA. Bit 1 is E_STOP? Set to all zero for normal operation.

JamesNewton commented 4 years ago

Kamino cloned this issue to HaddingtonDynamics/OCADO